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# MoveIt! package
###### tags: `ros` `moveit` `robot simulator` `vsclab`

:::spoiler Outline
[toc]
:::

# Installation
* [MoveIt 2 Source Build - Linux](https://moveit.ros.org/install-moveit2/source/)
> 缺點：編譯時間過長
* [MoveIt 2 Binary Install - Linux](https://moveit.ros.org/install-moveit2/binary/)
* [Doc: Getting Start](https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html)
:::warning
* 2022/9/25:
MoveIt-humble 的 binary 版本尚未推出，因此降回使用 foxy 版，編譯速度較快
:::

# Demo Program
* [Doc: MoveIt Quickstart in RViz](https://moveit.picknik.ai/foxy/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#)
* [URDF and SRDF Introduction](https://moveit.picknik.ai/foxy/doc/urdf_srdf/urdf_srdf_tutorial.html#urdf-and-srdf)

# 匯入台達機械手臂 URDF 至 MoveIt2!
## 環境安裝
:::warning
由於 ROS 2 foxy 沒有 "MoveIt Setup Assistant"，因此使用 [MoveIt 1 Noetic](https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html) (需先安裝 ROS 1 Noetic)
:::
* [ROS 1 Noetic Installation](http://wiki.ros.org/noetic/Installation/Ubuntu)
* [MoveIt 1 Noetic - Getting Start](https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html)
* [MoveIt 1 Noetic - MoveIt Setup Assistant](https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html)

## tf 套件介紹
* [ROS 2 foxy - Tf2](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Tf2/Tf2-Main.html)

## URDF 介紹
* [ROS wiki - URDF Tutorials](https://wiki.ros.org/urdf/Tutorials)
* [ROS 2 foxy - URDF Tutorials](https://docs.ros.org/en/foxy/Tutorials/Intermediate/URDF/URDF-Main.html)

## Create MoveIt Configuration Package
### [2022/10/19 - ...] ROS 1 Noetic
1. [Exporting URDF from SOLIDWORKS and Simulate the Robotic Arm in ROS using Moveit, Gazebo and Raviz with Inverse Kinamatics - YouTube Playlist](https://youtube.com/playlist?list=PLeEzO_sX5H6TBD6EMGgV-qdhzxPY19m12)
* 利用 SOLIDWORKS 匯出 URDF package
* 利用 MoveIt Assistance 匯出 moveit package
:::spoiler 其他教學
* [From SolidWorks to URDF & MoveIt! (Part 3 - MoveIt! Setup)](https://youtu.be/IS3JIV45rh0)
:::

:::danger
* **[roslaunch ERROR]**
`Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.`
* **Solution**
`$ sudo apt-get install ros-noetic-joint-state-controller ros-noetic-joint-trajectory-controller`
* **[Gazebo]**
`[ERROR] [1667645588.171038399, 0.126000000]: No p gain specified for pid. Namespace:gazebo_ros_control/pid_gains/Joint1`
* **[Solution](https://zhangtianhao.blog.csdn.net/article/details/119046043?spm=1001.2101.3001.6650.4&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-4-119046043-blog-111143282.pc_relevant_recovery_v2&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-4-119046043-blog-111143282.pc_relevant_recovery_v2&utm_relevant_index=5)**
:::
:::warning
* **[URDF]**
* 如何將關節旋轉反向？ [URDF/XML/joint - ROS Wiki](http://wiki.ros.org/urdf/XML/joint)
> 將 urdf/joint/<axis> 之數值變號，即可將關節旋轉反向。
* **[Rviz]**
* [如何載入/儲存Rviz設定檔？](https://answers.ros.org/question/11845/rviz-configuration-file-format/?answer=17518#post-id-17518)

    <launch>
      <node name="rviz" pkg="rviz" type="rviz" args="-d $(find delta_model)/rviz/urdf.rviz" />
    </launch>

* **[Gazebo]**
* [Why does my robot shake / wobble?](https://answers.gazebosim.org//question/16700/why-does-my-robot-shake-wobble/)
* 調高 joint/limit/effort，數值參考 [ur10](https://github1s.com/PositronicsLab/reveal_packages/blob/master/industrial_arm/scenario/models/urdf/ur10/ur10.urdf#L52)
:::
---
#### 機械手臂模擬程式執行流程(ROS 1 Noetic)

$ cd ~/delta_ws           # 進入工作目錄
$ catkin_make             # 編譯
$ source devel/setup.bash # source the overlay

# 預覽台達機械手臂(無物理引擎)
$ roslaunch delta_model display.launch

$ roslaunch moveit_delta_sim demo_gazebo.launch

# 模擬台達機械手臂運動規劃(含物理引擎＋控制器)
$ roslaunch moveit_delta_sim full_delta_sim.launch

### [2022/11/16 - ...] ROS 2 foxy (移至Humble開發)
:::spoiler
#### 機械手臂模擬程式執行流程(ROS 2 foxy)

# 進入工作目錄
$ colcon_cd delta_ros2_ws # by colcon_cd
$ cd ~/delta_ros2_ws      # manually

# 編譯
$ colcon build

# 載入套件環境
$ source install/setup.bash

# 預覽台達機械手臂(無物理引擎)
$ ros2 launch src/delta_model/arm.launch.py

# 模擬台達機械手臂運動規劃(含物理引擎＋控制器)
$ roslaunch moveit_delta_sim full_delta_sim.launch

:::

:::spoiler URDF Launcher 開發流程
1. 參考以下官方範例來撰寫 [ROS 2 Launch File]
(https://docs.ros.org/en/foxy/Tutorials/Intermediate/Launch/Creating-Launch-Files.html)
* [urdf_tutorial / launch / display.launch.py](https://github.com/ros/urdf_tutorial/blob/ros2/launch/display.launch.py)
* [urdf_tutorial / launch / display.launch.py](https://github.com/ros/urdf_tutorial/blob/ros2/launch/display.launch.py)
2. 將URDF路徑參數指向DRV70L

:::

:::spoiler MoveIt2 Launcher 開發流程
* [GitHub Issue: Custom URDF File to use with Moveit2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/135#issuecomment-872391860)
:::

### [2023/01/05 - ...] ROS 2 humble

#### 機械手臂模擬程式執行流程(ROS 2 humble)

# 進入工作目錄
$ colcon_cd delta_ros2_ws # by colcon_cd
$ cd ~/delta_ros2_ws      # manually

# 編譯
$ colcon build

# 載入套件環境
$ source ~/delta_ros2_ws/install/setup.bash
$ source ~/ws_moveit2/install/setup.bash

# 預覽台達機械手臂(無物理引擎)
$ ros2 launch delta_model display.launch.py

# (Terminal 1) 開啟台達機械手臂 MoveIt 環境
$ ros2 launch moveit2_delta demo.launch.py rviz_config:="src/moveit2_delta/rviz/moveit.rviz"

# (Terminal 2) 開啟 MoveIt 命令控制程式
$ ros2 run hello_moveit hello_moveit_delta
$ ros2 launch hello_moveit collision_demo.launch.py

# 模擬台達機械手臂運動規劃(含物理引擎＋控制器)
# $ roslaunch moveit_delta_sim full_delta_sim.launch

:::spoiler MoveIt2 (humble) Launcher 開發流程

#### Step 1. 參考以下範例修改 delta_model 的`CMakeLists.txt`與`package.xml`
* [elite_robot_ros2 - GitHub](https://github.com/fishros/elite_robot_ros2/tree/main/src/elite_moveit2/elite_ec66_moveit_config)
#### Step 2. 編譯 URDF 檔，打開 `moveit_setup_assistant`

$ cd ~/delta_ros2_ws
$ colcon build
$ source install/setup.bash
$ ros2 run moveit_setup_assistant moveit_setup_assistant

#### Step 3. Moveit Setup Assistant
* [Moveit Setup Assistant 設定教學](https://blog.csdn.net/qq_27865227/article/details/126896767)
* Package 輸出位置
`/home/deltabot/delta_ros2_ws/src/moveit2_delta`
#### Step 4. 編譯並開啟範例程式

$ cd ~/delta_ros2_ws
$ colcon build
$ source install/setup.bash
$ ros2 launch moveit2_delta demo.launch.py

:::
:::spoiler 參考教學
* [动手学Moveit2 | 运行配置好的机械臂功能demo](https://blog.csdn.net/qq_27865227/article/details/126896767)
* [Your First C++ MoveIt Project](https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html)
* [Visualizing In RViz](https://moveit.picknik.ai/humble/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.html)
* [use_sim_time - GitHub](https://github.com/ros-planning/moveit2/issues/1480#issuecomment-1352820099)
:::
#### 使用 MoveIt C++ API 建立軌跡規劃
##### API Docs:
* [LINK 1](http://docs.ros.org/en/jade/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroup.html)
:::spoiler 其他教學
* [ROS Moveit範例程式1 - iT 邦幫忙::一起幫忙解決難題，拯救 IT 人的一天](https://ithelp.ithome.com.tw/articles/10255030)
* [可解決 ctrl-c 無法退出問題 - Integrating launch files into ROS 2 packages](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Launch-system.html#creating-the-structure-to-hold-launch-files)
* [如何儲存軌跡資訊](https://answers.ros.org/question/305133/trajectory-multidof-to-file/)
:::

:::warning
* `config/*_planning.yaml` 記得修改 Joint Group 名稱，才能載入 move_group_node, rviz2_node
:::
---

## ROS control/controller
* [ros_control - ROS Wiki](http://wiki.ros.org/ros_control)
* [ROS探索总结（三十一）——ros_control - 古月居](https://www.guyuehome.com/890)

# List Controller Types
$ rosservice call controller_manager/list_controller_types

# Show Pos, Vel of joints
$ rostopic echo /joint_states

:::danger
TODO:
1. Gazebo模擬震顫問題
2. Gazebo機械手臂顯示問題
:::

## MoveIt!/Planners
* [Planners Available in MoveIt](https://moveit.ros.org/documentation/planners/)

## Self-Collision Checking Results